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Line map construction based on small-scale mobile robot using single-sonar navigation
| dc.creator | Jaradat, Mohammad Abdel Kareem | |
| dc.date.accessioned | 2012-06-07T23:15:02Z | |
| dc.date.available | 2012-06-07T23:15:02Z | |
| dc.date.created | 2002 | |
| dc.date.issued | 2002 | |
| dc.identifier.uri | https://hdl.handle.net/1969.1/ETD-TAMU-2002-THESIS-J37 | |
| dc.description | Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. | en |
| dc.description | Includes bibliographical references (leaves 45-46). | en |
| dc.description | Issued also on microfiche from Lange Micrographics. | en |
| dc.description.abstract | The objective of this study is to represent a way to construct a line map for an unknown indoor mobile robot environment based on a sonar sensor. The proposed procedure consists of two main steps. In the first step the sonar sensor measurements from the robot surrounding environment will be mapped in a two-dimensional occupancy grid map. In the second step the Radon Transform will be used to extract the line parameters from the occupancy grid map. These parameters will be used to represent the detected objects within the grid map by lines as a final representation of the robot environment. The presented experiments in this work have confirmed that the line map construction approach is able to reconstruct the unknown indoor environment in spite of the sensor uncertainty measurements. | en |
| dc.format.medium | electronic | en |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | |
| dc.publisher | Texas A&M University | |
| dc.rights | This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. | en |
| dc.subject | mechanical engineering. | en |
| dc.subject | Major mechanical engineering. | en |
| dc.title | Line map construction based on small-scale mobile robot using single-sonar navigation | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | mechanical engineering | en |
| thesis.degree.name | M.S. | en |
| thesis.degree.level | Masters | en |
| dc.type.genre | thesis | en |
| dc.type.material | text | en |
| dc.format.digitalOrigin | reformatted digital | en |
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